Request a specified voltage. More...

#include <ctre/phoenixpro/controls/VoltageOut.hpp>

Inheritance diagram for ctre::phoenixpro::controls::VoltageOut:

Public Member Functions
	VoltageOut (units::voltage::volt_t Output, bool EnableFOC, bool OverrideBrakeDurNeutral)
	Request a specified voltage. More...

	VoltageOut (units::voltage::volt_t Output)
	Request a specified voltage. More...

VoltageOut &	WithOutput (units::voltage::volt_t newOutput)
	Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API. More...

VoltageOut &	WithEnableFOC (bool newEnableFOC)
	Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API. More...

VoltageOut &	WithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral)
	Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API. More...

VoltageOut &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the period at which this control will update at. More...

std::string	ToString () const
	Returns a string representation of the object. More...

void	ForceApplyConfigs ()
	Forces configs to be applied the next time this is used in a setControl. More...

Public Member Functions inherited from ctre::phoenixpro::controls::ControlRequest
	ControlRequest (std::string name)
	Constructs a new Control Request with the given name. More...

ControlInfo &	GetControlInfo ()
	Gets information about this control request. More...

const ControlInfo &	GetControlInfo () const
	Gets information about this control request. More...

virtual	~ControlRequest ()=default

virtual std::string	ToString () const =0

Public Attributes
units::voltage::volt_t	Output
	Voltage to attempt to drive at. More...

bool	EnableFOC
	Set to true to use FOC commutation, which increases peak power by ~15%. More...

bool	OverrideBrakeDurNeutral
	Set to true to static-brake the rotor when output is zero (or within deadband). More...

configs::VoltageConfigs	Voltage
	Voltage-specific configs. More...

units::time::second_t	ConfigTimeout {0.1_s}
	The timeout when sending configs associated with this control. More...

units::frequency::hertz_t	UpdateFreqHz {100_Hz}
	The period at which this control will update at. More...

Additional Inherited Members
Protected Member Functions inherited from ctre::phoenixpro::controls::ControlRequest
	ControlRequest (ControlRequest const &)=default

	ControlRequest (ControlRequest &&)=default

ControlRequest &	operator= (ControlRequest const &)=default

ControlRequest &	operator= (ControlRequest &&)=default

Protected Attributes inherited from ctre::phoenixpro::controls::ControlRequest
ControlInfo	requestReference

Detailed Description

Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

Constructor & Destructor Documentation

◆ VoltageOut() [1/2]

ctre::phoenixpro::controls::VoltageOut::VoltageOut	(	units::voltage::volt_t	Output,
		bool	EnableFOC,
		bool	OverrideBrakeDurNeutral
	)

inline

Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

Parameters

Output	Voltage to attempt to drive at
EnableFOC	Set to true to use FOC commutation, which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
OverrideBrakeDurNeutral	Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.

◆ VoltageOut() [2/2]

ctre::phoenixpro::controls::VoltageOut::VoltageOut ( units::voltage::volt_t Output )

inline

Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

Parameters

Output Voltage to attempt to drive at

Member Function Documentation

◆ ForceApplyConfigs()

void ctre::phoenixpro::controls::VoltageOut::ForceApplyConfigs ( )

inline

Forces configs to be applied the next time this is used in a setControl.

This is not necessary in the majority of cases, because Phoenix will make sure configs are properly set when they are not already set

◆ ToString()

std::string ctre::phoenixpro::controls::VoltageOut::ToString ( ) const

inlinevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

Implements ctre::phoenixpro::controls::ControlRequest.

◆ WithEnableFOC()

VoltageOut & ctre::phoenixpro::controls::VoltageOut::WithEnableFOC ( bool newEnableFOC )

inline

Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.

Parameters

newEnableFOC Parameter to modify

Returns: Itself

◆ WithOutput()

VoltageOut & ctre::phoenixpro::controls::VoltageOut::WithOutput ( units::voltage::volt_t newOutput )

inline

Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.

Parameters

newOutput Parameter to modify

Returns: Itself

◆ WithOverrideBrakeDurNeutral()

VoltageOut & ctre::phoenixpro::controls::VoltageOut::WithOverrideBrakeDurNeutral ( bool newOverrideBrakeDurNeutral )

inline

Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.

Parameters

newOverrideBrakeDurNeutral Parameter to modify

Returns: Itself

◆ WithUpdateFreqHz()

VoltageOut & ctre::phoenixpro::controls::VoltageOut::WithUpdateFreqHz ( units::frequency::hertz_t newUpdateFreqHz )

inline

Sets the period at which this control will update at.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

Parameters

newUpdateFreqHz Parameter to modify

Returns: Itself

Member Data Documentation

◆ ConfigTimeout

units::time::second_t ctre::phoenixpro::controls::VoltageOut::ConfigTimeout {0.1_s}

The timeout when sending configs associated with this control.

◆ EnableFOC

bool ctre::phoenixpro::controls::VoltageOut::EnableFOC

Set to true to use FOC commutation, which increases peak power by ~15%.

Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

◆ Output

units::voltage::volt_t ctre::phoenixpro::controls::VoltageOut::Output

Voltage to attempt to drive at.

◆ OverrideBrakeDurNeutral

bool ctre::phoenixpro::controls::VoltageOut::OverrideBrakeDurNeutral

Set to true to static-brake the rotor when output is zero (or within deadband).

Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenixpro::controls::VoltageOut::UpdateFreqHz {100_Hz}

The period at which this control will update at.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

◆ Voltage

configs::VoltageConfigs ctre::phoenixpro::controls::VoltageOut::Voltage

Voltage-specific configs.

Voltage-specific configs

The documentation for this class was generated from the following file:

ctre/phoenixpro/controls/VoltageOut.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VoltageOut() [1/2]

◆ VoltageOut() [2/2]

Member Function Documentation

◆ ForceApplyConfigs()

◆ ToString()

◆ WithEnableFOC()

◆ WithOutput()

◆ WithOverrideBrakeDurNeutral()

◆ WithUpdateFreqHz()

Member Data Documentation

◆ ConfigTimeout

◆ EnableFOC

◆ Output

◆ OverrideBrakeDurNeutral

◆ UpdateFreqHz

◆ Voltage